Attempting to find pinouts of this roomba LiDAR sensor.

[Starry_Nites]

 Hello, everyone! I recently tore down an old roomba because I wanted to start doing things exactly like this with scrapped parts. My end goal is to use an Arduino Nano to make a system that will use this LiDAR sensor to make a 2D map of whatever space that the circuit happens to be in, which should get me acclimated to this kind of hobby.

To do that, I need to figure out what pins on the LiDAR sensor do what in order to hijack them to operate on the Arduino's command. I have these four pins on the bottom of the LiDAR's board that I am 99% certain control and send LiDAR signals. I also have this little three-pinned plug on the front that should control the laser. With that in mind, my plan was to put power through all combinations of the four pins on the back to see if my multimeter will pick anything up on the three on the front because I see no other way for these pins to receive power other than the four pins. I have tried for hours testing with a multimeter on these pins to see if I can get any kind of information, but to no avail.

The next method that I tried was to use continuity mode on all of the pins to see if I could get anything there, but still got nothing. my failure thus far could very well be due to the fact that the multimeter's pins are just a little too big to fit into the three-pinned socket, but they should be small enough that something would touch.

As far as I am aware, the roomba's LiDAR sensor was perfectly functional and I see no visible damage.

I am almost done with trying to find pinouts, so if anyone has anything else that I should try, please let me know. Otherwise, if you guys could help me figure out where to find some diagrams on this part, that would be very helpful. I know that the two QR codes return part numbers, but the LiDAR sensor module is very much proprietary, so I don't know if I can really use them anywhere (and I have no idea where I would use them if I could).

I have attached some images to the post, but I am incredibly new to this forum, so I don't know if I got the formatting correct.

Here is a picture of the bottom of the LiDAR sensor in question. it has two connector ports and a motor on the top part of the image. There is a two-pin port and a four-pin port. In my teardown, the motor connected to the two-pin port and I believe that the four-pin was connected to the motherboard. That connector that is plugged into the four-pin was the original connector with the other side of it cut and stripped so that I could solder to it and use my own connections.



Here is a picture of the top of the sensor. This circuit board is attached on a swivel that allows it to spin independent of the bottom using that motor from the last picture. On this board, there are three total ports (excluding the debug port in the center of the LiDAR sensor module). There is the three-pin port on the right side of the board that connects to the laser module, there is a ribbon cable that connects from the bottom board, and there is the port on that vertical board that the ribbon cable connects to. The three-pin port has been what I have been inserting the multimeter probes into.



Thanks in advance!